from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch_ros.actions import Node


def generate_launch_description():
    return LaunchDescription(
        [
            DeclareLaunchArgument(
                "target_frame",
                default_value="turtle1",
                description="Target frame name.",
            ),
            Node(
                package="turtlesim",
                executable="turtlesim_node",
                name="sim",
                output="screen",
            ),
            Node(
                package="6_tf2_python",
                executable="2_tf2_动态广播",
                name="broadcaster1",
                parameters=[{"turtlename": "turtle1"}],
            ),
            Node(
                package="6_tf2_python",
                executable="2_tf2_动态广播",
                name="broadcaster2",
                parameters=[{"turtlename": "turtle3"}],
            ),
            Node(
                package="6_tf2_python",
                executable="11_tf2_1只乌龟旋转_求另一只相对位置",
                name="message_broadcaster",
            ),
        ]
    )

""" 
再通过rviz2 , 查看/turtle3/turtle_point_stamped
查看turtle3 运动轨迹
"""